CN112192567A - Method and device for acquiring working range of robot - Google Patents
Method and device for acquiring working range of robot Download PDFInfo
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- CN112192567A CN112192567A CN202011052628.8A CN202011052628A CN112192567A CN 112192567 A CN112192567 A CN 112192567A CN 202011052628 A CN202011052628 A CN 202011052628A CN 112192567 A CN112192567 A CN 112192567A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/1605—Simulation of manipulator lay-out, design, modelling of manipulator
Abstract
The invention discloses a method and a device for acquiring a working range of a robot. Wherein, the method comprises the following steps: generating a base coordinate system of the robot model, wherein a target robot corresponding to the robot model is a robot to be subjected to working range drawing; establishing a rotation center coordinate system of each axis in a plurality of axes of the robot model in the base coordinate system, and introducing the robot model in the base coordinate system and the rotation center coordinate system of each axis into an Adams system for automatic analysis of mechanical system dynamics; and (4) performing motion simulation on the target robot in the Adams system to obtain the working range of the target robot. The invention solves the technical problems that the mode for determining the working range of the robot in the related technology is complicated and the obtained result is not intuitive enough.
Description
Technical Field
The invention relates to the technical field of robot control, in particular to a method and a device for acquiring a working range of a robot.
Background
Analysis of the robot workspace is a very important issue throughout the robot design process. The size of the working space of the robot represents the movable range of each joint of the robot, and the size is an important index for measuring the working capacity of the robot.
For the algorithm of the working space of the robot, three methods, namely an analytic method, a graphical method and a numerical solution, are commonly used. The analytical method is to solve envelope curve for many times and express the boundary of working space by an equation, and the method has weak intuition, is very complicated and is difficult to understand. Fig. 1 is a schematic diagram of a working range of a robot drawn based on CAD in the prior art, and since the working range of the robot drawn manually by using CAD is complicated, it is not only easy to make mistakes, but also time-consuming, labor-intensive, and inefficient, as shown in fig. 1, the working range of the robot drawn by using CAD has many lines, which are only intuitive.
Aiming at the problems that the mode for determining the working range of the robot in the related technology is complicated and the obtained result is not intuitive enough, an effective solution is not provided at present.
Disclosure of Invention
The embodiment of the invention provides a method and a device for acquiring a working range of a robot, which are used for at least solving the technical problems that the mode for determining the working range of the robot in the related art is more complicated and the obtained result is not intuitive enough.
According to an aspect of the embodiments of the present invention, there is provided a method for acquiring a working range of a robot, including: generating a base coordinate system of a robot model, wherein a target robot corresponding to the robot model is a robot to be subjected to working range drawing; establishing a rotation center coordinate system of each axis in a plurality of axes of the robot model in the base coordinate system, and introducing the robot model in the base coordinate system and the rotation center coordinate system of each axis into an Adams system for automatic analysis of mechanical system dynamics; and performing motion simulation on the target robot in the Adams system to obtain the working range of the target robot.
Optionally, before generating the base coordinate system of the robot model, the method for acquiring the working range of the robot further includes: acquiring structural characteristic parameters of the target robot; and generating a robot model corresponding to the target robot based on the structural characteristic parameters.
Optionally, before generating the base coordinate system of the robot model, the method for acquiring the working range of the robot further includes: and determining first orientation information of the robot model in an Adams coordinate system corresponding to the Adams system.
Optionally, generating a base coordinate system of the robot model comprises: determining second orientation information of the base coordinate system based on the first orientation information of the Adams coordinate system; generating the base coordinate system based on the second orientation information in predetermined three-dimensional software.
Optionally, after establishing a rotation center coordinate system of each axis of the plurality of axes of the robot model in the base coordinate system, and importing the robot model and the rotation center coordinate system of each axis in the base coordinate system into an automatic mechanical system dynamics analysis Adams system, the method for acquiring the working range of the robot further includes: and adding constraint conditions and driving data for the robot model in the Adams system.
Optionally, before the motion simulation is performed on the target robot in the Adams system to obtain the working range of the target robot, the method for acquiring the working range of the robot further includes: and programming each axis by using a step function to obtain a control command of each axis, wherein the variable of the step function is time.
Optionally, simulating the motion of the target robot in the Adams system to obtain the working range of the target robot, including: controlling each shaft to rotate in respective rotating joint in sequence from the first shaft of the robot model to the last shaft within the rotating range of each shaft of the robot model; wherein, control every axle in proper order with respective revolute joint rotation, include: and controlling one shaft of each shaft to rotate, and then controlling the shafts adjacent to the shaft to change from the minimum angle to the maximum angle within the change range of the shaft, wherein each shaft moves in different ranges at different times.
According to another aspect of the embodiments of the present invention, there is provided a device for acquiring a working range of a robot, including: the robot system comprises a first generation unit, a second generation unit and a third generation unit, wherein the first generation unit is used for generating a base coordinate system of a robot model, and a target robot corresponding to the robot model is a robot to be subjected to working range drawing; the importing unit is used for establishing a rotation center coordinate system of each axis in a plurality of axes of the robot model in the base coordinate system and importing the robot model in the base coordinate system and the rotation center coordinate system of each axis into an Adams system for mechanical system dynamics automatic analysis; and the first acquisition unit is used for carrying out motion simulation on the target robot in the Adams system to obtain the working range of the target robot.
Optionally, the acquiring of the working range of the robot further includes: a second obtaining unit, configured to obtain structural characteristic parameters of the target robot before generating a base coordinate system of the robot model; and the second generating unit is used for generating a robot model corresponding to the target robot based on the structural characteristic parameters.
Optionally, the acquiring of the working range of the robot further includes: the determining unit is used for determining first orientation information of the robot model in an Adams coordinate system corresponding to the Adams system before generating a base coordinate system of the robot model.
Optionally, the first generating unit includes: a determining module, configured to determine second orientation information of the base coordinate system based on the first orientation information of the Adams coordinate system; a generating module for generating the base coordinate system based on the second orientation information in predetermined three-dimensional software.
Optionally, the acquiring of the working range of the robot further includes: and the adding unit is used for adding constraint conditions and driving data for the robot model in an Adams system after establishing a rotation center coordinate system of each axis in a plurality of axes of the robot model in the base coordinate system and importing the robot model in the base coordinate system and the rotation center coordinate system of each axis into the mechanical system dynamics automatic analysis Adams system.
Optionally, the acquiring of the working range of the robot further includes: and the programming unit is used for programming each axis by using a step function before the target robot is subjected to motion simulation in the Adams system to obtain the working range of the target robot, so as to obtain a control command of each axis, wherein the variable of the step function is time.
Optionally, the first obtaining unit includes: the control module is used for controlling each shaft of the robot model to rotate in respective rotating joint from the first shaft to the last shaft in the rotating range of each shaft of the robot model; wherein the control module comprises: and the control submodule is used for controlling one shaft of each shaft to rotate and then controlling the adjacent shaft to change from a minimum angle to a maximum angle within a self change range, wherein each shaft moves in different ranges at different time.
According to another aspect of the embodiment of the present invention, there is also provided a computer-readable storage medium, where the computer-readable storage medium includes a stored computer program, where when the computer program is executed by a processor, the computer program controls a device in which the computer storage medium is located to execute any one of the above methods for acquiring the working range of the robot.
According to another aspect of the embodiment of the present invention, there is further provided a processor, where the processor is configured to execute a computer program, where the computer program executes the method for acquiring the working range of the robot when running.
In the embodiment of the invention, a basic coordinate system for generating a robot model is adopted, wherein a target robot corresponding to the robot model is a robot to be subjected to working range drawing; establishing a rotation center coordinate system of each axis in a plurality of axes of the robot model in the base coordinate system, and introducing the robot model in the base coordinate system and the rotation center coordinate system of each axis into an Adams system for automatic analysis of mechanical system dynamics; the method for acquiring the working range of the robot achieves the purpose of flexibly and quickly drawing the working range of the robot according to the size of each axis range of the robot model by establishing the rotation center coordinate system of each axis of the robot model in the base coordinate system after the base coordinate system of the robot model is generated, achieves the technical effect of improving the process of simplifying the work range determination of the robot model, enables the acquired working range of the robot to be more visual and convenient to check, and further solves the technical problems that the mode for determining the working range of the robot in the related technology is more complicated, and the obtained result is not visual enough.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the invention without limiting the invention. In the drawings:
FIG. 1 is a schematic diagram of a CAD-based drawing of a robot working range according to the prior art;
fig. 2 is a flowchart of a robot working range acquisition method according to an embodiment of the present invention;
FIG. 3 is a flow chart of an alternative robot work scope acquisition method according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of a CAD-based rendering of a robot working range in accordance with an embodiment of the present invention;
fig. 5 is a schematic diagram of acquisition of a robot working range according to an embodiment of the present invention.
Detailed Description
In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
For convenience of description, terms or expressions appearing in the embodiments of the present invention are explained below.
Automatic Mechanical system dynamics Analysis (Automatic Dynamic Analysis Mechanical Systems, ADAMS for short): the method is software for creating a fully parameterized mechanical system geometric model by using an interactive graphic environment, a part library, a constraint library and a force library, establishing a system dynamics equation by using a Lagrange equation method in a multi-rigid system dynamics theory through a solver, carrying out statics, kinematics and dynamics analysis on a virtual mechanical system, and outputting displacement, speed, acceleration and reaction force curves.
Example 1
In accordance with an embodiment of the present invention, there is provided a method embodiment of a method for acquiring a robot working range, it is noted that the steps illustrated in the flowchart of the drawings may be performed in a computer system such as a set of computer executable instructions, and that although a logical order is illustrated in the flowchart, in some cases the steps illustrated or described may be performed in an order different than here.
Fig. 2 is a flowchart of a method for acquiring a working range of a robot according to an embodiment of the present invention, as shown in fig. 1, the method for acquiring a working range of a robot includes the following steps:
and S202, generating a base coordinate system of the robot model, wherein the target robot corresponding to the robot model is the robot to be subjected to working range drawing.
Optionally, in the embodiment of the present invention, after the robot model is generated, a base coordinate system of the robot model may be generated based on the robot model.
In an optional embodiment, before generating the base coordinate system of the robot model, the method for acquiring the working range of the robot further includes: acquiring structural characteristic parameters of a target robot; and generating a robot model corresponding to the target robot based on the structural characteristic parameters.
In this embodiment, the structural characteristic parameters of the target robot may be obtained first, and then the structural characteristic parameters of the target robot are used to generate the robot model corresponding to the target robot.
In this embodiment, the robot model may be built using three-dimensional software including, but not limited to, SolidWorks.
Step S204, a rotation center coordinate system of each axis of the multiple axes of the robot model is established in the base coordinate system, and the robot model in the base coordinate system and the rotation center coordinate system of each axis are led into an Adams system for automatic analysis of mechanical system dynamics.
And step S206, performing motion simulation on the target robot in the Adams system to obtain the working range of the target robot.
As can be seen from the above, in the embodiment of the present invention, a base coordinate system of a robot model may be generated, where a target robot corresponding to the robot model is a robot to be subjected to work range drawing; then, establishing a rotation center coordinate system of each axis in a plurality of axes of the robot model in the base coordinate system, and introducing the robot model in the base coordinate system and the rotation center coordinate system of each axis into an Adams system for automatic analysis of mechanical system dynamics; the method has the advantages that the target robot is subjected to motion simulation in the Adams system, the working range of the target robot is obtained, the rotating center coordinate system of each axis in a plurality of axes of the robot model is established in the basic coordinate system after the basic coordinate system of the robot model is generated, the aim of flexibly and quickly drawing the working range of the robot according to the range of each axis of the robot model is fulfilled, the technical effect of simplifying the flow determined by the working range of the robot model is improved, the obtained working range of the robot is enabled to be more visual, and the robot is convenient to check.
Therefore, the method for acquiring the working range of the robot solves the technical problems that the mode for determining the working range of the robot in the related art is complicated and the obtained result is not intuitive enough.
In an alternative embodiment, before generating the base coordinate system of the robot model, the method for acquiring the robot working range may further include: and determining first orientation information of the robot model in an Adams coordinate system corresponding to the Adams system.
In this embodiment, before generating the base coordinate system of the robot model, determining orientation information of the robot model in an Adams coordinate system corresponding to the Adams system, for example, information such as an orientation of the coordinate system, so as to ensure that the base coordinate system established in the predetermined three-dimensional software ensures that the coordinate axis direction and the Adams coordinate direction are consistent as much as possible, so as to facilitate subsequent robot model processing.
In an alternative embodiment, generating a coordinate system of the robot model comprises: determining second orientation information of the base coordinate system based on the first orientation information of the Adams coordinate system; and generating a base coordinate system based on the second orientation information in the predetermined three-dimensional software.
In this embodiment, the second orientation information of the base coordinate system of the robot model is determined based on the first orientation information of the Adams coordinate system, so that the coordinate axis direction and the Adams coordinate direction can be ensured to be consistent, and the subsequent robot model processing is facilitated.
In an optional embodiment, after establishing a rotation center coordinate system of each axis of the plurality of axes of the robot model in the base coordinate system, and importing the robot model in the base coordinate system and the rotation center coordinate system of each axis into the automatic mechanical system dynamics analysis Adams system, the method for acquiring the working range of the robot further includes: constraints and driving data are added to the robot model in the Adams system.
It should be noted that, before the coordinate system of the rotation center of each of the plurality of axes of the robot model is established in the base coordinate system, and the robot model and the coordinate system of the rotation center of each axis in the base coordinate system are introduced into the Adams system for automatic analysis of mechanical system dynamics, after the coordinate system of the rotation center of each axis of the robot model is established, the coordinate system of the rotation center of each axis and the robot model need to be stored in a format recognizable by the Adams system.
In this embodiment, after the robot model in the base coordinate system and the rotation center coordinate system of each axis are imported into the mechanical system dynamics automatic analysis Adams system, constraint condition drivable data also needs to be added to the robot model.
The constraint condition may be that a rotating pair is added to each axis of the robot, and a drive (i.e., a driving force of a servo motor of each axis) is added thereto.
In an alternative embodiment, before the motion simulation of the target robot in the Adams system is performed to obtain the working range of the target robot, the method for acquiring the working range of the robot further includes: and programming each axis by using a step function to obtain a control command of each axis, wherein the variable of the step function is time.
In the process of drawing the trajectory curve of the robot, there is no special requirement on the speed of the robot, so the variable may be selected as time, and within the range in which the variables of each joint of the robot can rotate, the robot may rotate sequentially with the respective rotating joints from the first joint to the last joint.
In this embodiment, the robot model is programmed for each axis such that each joint moves sequentially and is programmed with a step function step (array, x0, h0, x1, h1), which represents a jump from the value of h0 at x0 to the value of h1 at x1, optionally with an array for interpolation. Wherein x1 and x2 respectively represent different time instants, h1 and h2 respectively represent angles of respective axes of the robot model, and the angle change of the respective axes of the robot model can be determined through the angles in the time period from x1 to x 2.
In an alternative embodiment, the motion simulation of the target robot in the Adams system to obtain the working range of the target robot includes: in the rotating range of each shaft of the robot model, starting from the first shaft of the robot model, controlling each shaft to rotate by respective rotating joint in sequence until the last shaft; wherein, control every axle and rotate with respective revolute joint in proper order, include: and controlling one shaft of each shaft to rotate, and then controlling the shafts adjacent to the shafts to change from the minimum angle to the maximum angle within the change range of the shafts, wherein each shaft moves in different ranges at different times.
In this embodiment, the last joint may be preferentially moved during the change of the respective axes of the robot model; specifically, one joint may be specified to rotate, and then the next joint may be changed from the minimum angle to the maximum angle within the change range of the next joint, and different ranges of motion of each joint may be required at different times, so as to finally obtain the motion range of the robot.
It should be noted that, in the embodiment of the present invention, a whole cycle of motion is completed, and after a simulation operation of a running process is performed, a motion relationship of each component in the Adams system is already determined, so that a trajectory of a point on one component relative to another component can be calculated; the working range of the robot generally refers to the movement range of the wrist center, so that the working range of the robot can be displayed by selecting a track curve of points to be drawn relative to the ground; finally, a line drawing is led out and the size is perfected, and the working range of the robot can be obtained.
Fig. 3 is a flowchart of an alternative robot work range obtaining method according to an embodiment of the present invention, and as shown in fig. 3, a base coordinate system, a coordinate system of rotation centers of respective axes may be first established in three-dimensional software; exporting a robot model format for the Adams system to recognize; creating an Adams file and importing the Adams file into a robot model; adding constraint for the robot model, fixing the base, rotating the rest and adding drive for each shaft; writing a driving program for driving the shaft needing to move; establishing a track curve after the structure is simulated; confirming whether the track curve is correct; if yes, ending; and conversely, the driver program is written for driving each axis needing to move. Fig. 4 is a schematic diagram of a working range of the robot drawn based on CAD according to an embodiment of the present invention, and as shown in fig. 4, the working range of the robot is more clearly seen than the lines shown in fig. 1, so that the working range of the robot is more visually seen.
The method for acquiring the working range of the robot can be applied to drawing the mutually independent working ranges of the robots of all axes, effectively solves the problems of disorder and error proneness of CAD drawing lines, can calculate the whole working range of the robot under different movement angles at any time according to needs by changing the movement angle in a program, is simple and quick, and can flexibly and quickly change and draw the working range of the robot according to the size of the range of each axis.
Therefore, according to the method for acquiring the working range of the robot, provided by the invention, the working range of the moving part can be accurately drawn as required by adopting Adams programming, and the method can be adjusted according to actual requirements.
Example 2
According to another aspect of the embodiment of the present invention, there is also provided a robot working range acquiring device, and fig. 5 is a schematic diagram of the robot working range acquiring device according to the embodiment of the present invention, as shown in fig. 5, the robot working range acquiring device includes: a first generation unit 51, an introduction unit 53, and a first acquisition unit 55. The following describes an acquisition device of the robot operating range.
The first generating unit 51 is configured to generate a base coordinate system of a robot model, where a target robot corresponding to the robot model is a robot to be subjected to work range drawing.
And an importing unit 53, configured to establish a rotation center coordinate system of each axis of the multiple axes of the robot model in the base coordinate system, and import the robot model in the base coordinate system and the rotation center coordinate system of each axis into the mechanical system dynamics automatic analysis Adams system.
And the first obtaining unit 55 is configured to perform motion simulation on the target robot in the Adams system to obtain a working range of the target robot.
It should be noted that the first generating unit 51, the importing unit 53, and the first acquiring unit 55 correspond to steps S202 to S206 in embodiment 1, and the units are the same as the examples and application scenarios realized by the corresponding steps, but are not limited to the disclosure in embodiment 1. It should be noted that the above-described elements as part of an apparatus may be implemented in a computer system, such as a set of computer-executable instructions.
As can be seen from the above, in the above embodiments of the present application, the first generating unit may be used to generate a base coordinate system of a robot model, where a target robot corresponding to the robot model is a robot to be subjected to work range drawing; then, establishing a rotation center coordinate system of each axis in a plurality of axes of the robot model in the base coordinate system by using the importing unit, and importing the robot model in the base coordinate system and the rotation center coordinate system of each axis into an Adams system for automatically analyzing the dynamics of the mechanical system; and performing motion simulation on the target robot in the Adams system by using the first acquisition unit to obtain the working range of the target robot. By the device for acquiring the working range of the robot, which is provided by the embodiment of the invention, the aim of flexibly and quickly drawing the working range of the robot according to the range of each axis of the robot model by establishing the rotation center coordinate system of each axis of the robot model in the base coordinate system after the base coordinate system of the robot model is generated is fulfilled, the technical effect of simplifying the process for determining the working range of the robot model is improved, the acquired working range of the robot is more visual and is convenient to check, and the technical problems that the mode for determining the working range of the robot in the related technology is more complicated and the obtained result is not visual enough are solved.
In an optional embodiment, the acquiring of the working range of the robot further comprises: a second obtaining unit, configured to obtain structural characteristic parameters of the target robot before generating a base coordinate system of the robot model; and the second generating unit is used for generating a robot model corresponding to the target robot based on the structural characteristic parameters.
In an optional embodiment, the acquiring of the working range of the robot further comprises: the determining unit is used for determining first orientation information of the robot model in an Adams coordinate system corresponding to the Adams system before generating a base coordinate system of the robot model.
In an alternative embodiment, the first generating unit includes: the determining module is used for determining second orientation information of the base coordinate system based on the first orientation information of the Adams coordinate system; and the generating module is used for generating a base coordinate system in the predetermined three-dimensional software based on the second orientation information.
In an optional embodiment, the acquiring of the working range of the robot further comprises: and the adding unit is used for adding constraint conditions and driving data for the robot model in the Adams system after establishing a rotation center coordinate system of each axis in a plurality of axes of the robot model in the base coordinate system and importing the robot model in the base coordinate system and the rotation center coordinate system of each axis into the mechanical system dynamics automatic analysis Adams system.
In an optional embodiment, the acquiring of the working range of the robot further comprises: and the programming unit is used for programming each axis by using a step function before motion simulation is carried out on the target robot in the Adams system to obtain the working range of the target robot, and obtaining a control instruction of each axis, wherein the variable of the step function is time.
In an alternative embodiment, the first obtaining unit includes: the control module is used for controlling each shaft to rotate by a respective rotating joint in sequence from the first shaft of the robot model to the last shaft within the rotating range of each shaft of the robot model; wherein, the control module includes: and the control submodule is used for controlling one shaft in each shaft to rotate and then controlling the adjacent shaft to change from the minimum angle to the maximum angle within the self change range, wherein each shaft moves in different ranges at different time.
Example 3
According to another aspect of the embodiments of the present invention, there is also provided a computer-readable storage medium, which includes a stored computer program, where when the computer program is executed by a processor, the computer program controls an apparatus in which the computer storage medium is located to execute the method for acquiring the working range of the robot in any one of the above.
Example 4
According to another aspect of the embodiment of the present invention, there is further provided a processor, configured to execute a computer program, where the computer program executes the method for acquiring the working range of the robot in any one of the above-mentioned methods.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
In the above embodiments of the present invention, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.
In the embodiments provided in the present application, it should be understood that the disclosed technology can be implemented in other ways. The above-described embodiments of the apparatus are merely illustrative, and for example, the division of the units may be a logical division, and in actual implementation, there may be another division, for example, multiple units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, units or modules, and may be in an electrical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic or optical disk, and other various media capable of storing program codes.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.
Claims (10)
1. A method for acquiring a working range of a robot is characterized by comprising the following steps:
generating a base coordinate system of a robot model, wherein a target robot corresponding to the robot model is a robot to be subjected to working range drawing;
establishing a rotation center coordinate system of each axis in a plurality of axes of the robot model in the base coordinate system, and introducing the robot model in the base coordinate system and the rotation center coordinate system of each axis into an Adams system for automatic analysis of mechanical system dynamics;
and performing motion simulation on the target robot in the Adams system to obtain the working range of the target robot.
2. The method of claim 1, further comprising, prior to generating the base coordinate system of the robot model:
acquiring structural characteristic parameters of the target robot;
and generating a robot model corresponding to the target robot based on the structural characteristic parameters.
3. The method of claim 1, further comprising, prior to generating the base coordinate system of the robot model: and determining first orientation information of the robot model in an Adams coordinate system corresponding to the Adams system.
4. The method of claim 3, wherein generating a base coordinate system of the robot model comprises:
determining second orientation information of the base coordinate system based on the first orientation information of the Adams coordinate system;
generating the base coordinate system based on the second orientation information in predetermined three-dimensional software.
5. The method of claim 3, further comprising, after establishing a rotation center coordinate system of each of a plurality of axes of the robot model in the base coordinate system and importing the robot model and the rotation center coordinate system of each of the axes in the base coordinate system into an Adams system for automatic mechanical System dynamics analysis, the Adams system:
and adding constraint conditions and driving data for the robot model in the Adams system.
6. The method of claim 5, wherein before simulating the movement of the target robot in the Adams system to obtain the working range of the target robot, further comprising:
and programming each axis by using a step function to obtain a control command of each axis, wherein the variable of the step function is time.
7. The method of claim 6, wherein simulating the movement of the target robot in the Adams system to obtain the working range of the target robot comprises:
controlling each shaft to rotate in respective rotating joint in sequence from the first shaft of the robot model to the last shaft within the rotating range of each shaft of the robot model;
wherein, control every axle in proper order with respective revolute joint rotation, include:
and controlling one shaft of each shaft to rotate, and then controlling the shafts adjacent to the shaft to change from the minimum angle to the maximum angle within the change range of the shaft, wherein each shaft moves in different ranges at different times.
8. An acquisition device of a working range of a robot, comprising:
the robot system comprises a first generation unit, a second generation unit and a third generation unit, wherein the first generation unit is used for generating a base coordinate system of a robot model, and a target robot corresponding to the robot model is a robot to be subjected to working range drawing;
the importing unit is used for establishing a rotation center coordinate system of each axis in a plurality of axes of the robot model in the base coordinate system and importing the robot model in the base coordinate system and the rotation center coordinate system of each axis into an Adams system for mechanical system dynamics automatic analysis;
and the first acquisition unit is used for carrying out motion simulation on the target robot in the Adams system to obtain the working range of the target robot.
9. A computer-readable storage medium, comprising a stored computer program, wherein when the computer program is executed by a processor, the computer-readable storage medium controls an apparatus to perform the method for acquiring the working range of the robot according to any one of claims 1 to 7.
10. A processor for executing a computer program, wherein the computer program executes the method for acquiring the working range of the robot according to any one of claims 1 to 7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN202011052628.8A CN112192567B (en) | 2020-09-29 | 2020-09-29 | Method and device for acquiring working range of robot |
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